Detail publikačního výsledku

Non odometry SLAM and Effect of Feature Space Parametrization on its Covariance Convergence

KLEČKA, J.; HORÁK, K.; DAVÍDEK, D.; NOVÁČEK, P.

Originální název

Non odometry SLAM and Effect of Feature Space Parametrization on its Covariance Convergence

Anglický název

Non odometry SLAM and Effect of Feature Space Parametrization on its Covariance Convergence

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

This paper is aimed at non-odometry feature-based variant of SLAM (Simultaneous Localisation and Mapping) algorithm. The main focus has been given to processing of linearly constraint map landmarks observations. The observation model was simplified to linear and with this assumption is given derivation of three different variants of applicable SLAM algorithm – first variant which doesn’t take into consideration any map feature constraints, second variant which optimally process data under linear constraints assumption and third reduced variant which is designed to slightly suboptimal processing with significantly lower computational complexity. The performance of described methods was tested on synthetic data and results of simulations are presented at the end of this paper.

Anglický abstrakt

This paper is aimed at non-odometry feature-based variant of SLAM (Simultaneous Localisation and Mapping) algorithm. The main focus has been given to processing of linearly constraint map landmarks observations. The observation model was simplified to linear and with this assumption is given derivation of three different variants of applicable SLAM algorithm – first variant which doesn’t take into consideration any map feature constraints, second variant which optimally process data under linear constraints assumption and third reduced variant which is designed to slightly suboptimal processing with significantly lower computational complexity. The performance of described methods was tested on synthetic data and results of simulations are presented at the end of this paper.

Klíčová slova

SLAM, non-odometry SLAM, feature-based SLAM, Simultaneous Localisation and Mapping, mapping, parametrization of feature space

Klíčová slova v angličtině

SLAM, non-odometry SLAM, feature-based SLAM, Simultaneous Localisation and Mapping, mapping, parametrization of feature space

Autoři

KLEČKA, J.; HORÁK, K.; DAVÍDEK, D.; NOVÁČEK, P.

Rok RIV

2017

Vydáno

06.10.2016

Kniha

14th IFAC Conference on Programmable Devices and Embedded Systems - PDeS 2016

ISSN

2405-8963

Periodikum

IFAC-PapersOnLine

Svazek

2016

Číslo

14

Stát

Spojené království Velké Británie a Severního Irska

Strany od

357

Strany do

362

Strany počet

6

BibTex

@inproceedings{BUT128843,
  author="Jan {Klečka} and Karel {Horák} and Daniel {Davídek} and Petr {Nováček}",
  title="Non odometry SLAM and Effect of Feature Space Parametrization on its Covariance Convergence",
  booktitle="14th IFAC Conference on Programmable Devices and Embedded Systems - PDeS 2016",
  year="2016",
  journal="IFAC-PapersOnLine",
  volume="2016",
  number="14",
  pages="357--362",
  doi="10.1016/j.ifacol.2016.12.024",
  issn="2405-8971"
}